How can T265 localize obstacles?

[VT000]

Hello.

I saw the datasheet of the T265 camera? How can the camera localize the obstacles, for example on the wall? Is there a demo for this? Where can I find whitepapers about T265? Is it possible to combine the T265 with D415 to find obstacles, I mean to join the depth data somehow with T265?

Thank you.

Best regards

[Eliza_D_Intel]

Hello VT000, Thank you for your interest in the Intel RealSense T265 camera. Please find the link for T265 datasheet: https://www.intel.com/content/dam/support/us/en/documents/emerging-technologies/intel-realsense-technology/IntelRealSenseTrackingT265Datasheet.pdf Yes, you can use the T265 tracking module without an depth camera for obstacles avoidance.You will find more useful information in regards to this subject on Visual Inertial Tracking Case Study: https://www.intelrealsense.com/visual-inertial-tracking-case-study/ More information about T265 can be found here: https://github.com/IntelRealSense/librealsense/blob/master/doc/t265.md Thank you, Eliza

[Eliza_D_Intel]

Hello VT000, Could you please let us know if you require further assistance with this topic? Thank you, Eliza

[VT000]

Hello Eliza,

Yes, I do.

I haven't found any whitepapers or examples (Matlab examples) for T265 usage. I read the suggested datasheet and the websites.

But, I need an example for obstacle detection with T265.

Even better I need an advice for wall detection (the new topic) with T265 (if it is possible with the T265, because the D415 and D435 can not detect the wall, because the simple wall has no features to detect, this was the answer of the Chief Technical Officer of the RealSense Group and this answer makes sense).

But now, the main problem is that I can't start the Viewer and the D.Q. Tool. I have tried everything (restart, cable change, reinstalling the SDK all versions after the 2.17.1. etc.).

Thank you.

Kind regards

[Eliza_D_Intel · Accepted solution]

Hello VT000, Examples for T265 can be found here: https://github.com/IntelRealSense/librealsense/blob/master/doc/t265.md#integration-with-the-sdk For this moment, those are the examples/tool compatible with the tracking device. Please take a look at this video as I believe is what you are looking for: https://www.youtube.com/watch?v=LBMsWJJxLXQ As mentioned in video's description, the source code will be made available on https://github.com/IntelRealSense/librealsense but we currently do not have an ETA. As for your second issue, we will discuss it on your other thread. Thank you, Eliza

[Eliza_D_Intel]

Hello VT000, Could you please let me know if you require further assistance on this topic? Thank you, Eliza

[VT000]

Hello Eliza,

I saw the links and the video, but I need a little more precise answer, example.

Maybe the uploaded image will help. I need a T265 camera to detect the distance difference between the wall and the window. The wall, or the window can be the obstacle. The example in the video presents obstacle avoiding in the space. I need the detection for case like in the image.

I tried with the D415, but it seems impossible according to the Chief Technical Officer of the RealSense Group. https://github.com/IntelRealSense/librealsense/issues/3961

Now, I thinking to combine the D415 and the T265, but first I need to know that my issue is solvable or not with RealSense cameras.

Thank you.

Kind regards

[Eliza_D_Intel]

Hello VT000, Please take a look at this Community Thread: https://forums.intel.com/s/question/0D50P00004KNgdKSAT/using-d415-or-t265-for-wall-following Thank you, Eliza

[Eliza_D_Intel]

Hello VT000, Could you please let us know if you require further assistance on this matter? The Collision Avoidance Library became available on GitHub, if you are planing on using a drone with T265: https://github.com/intel/collision-avoidance-library Thank you, Eliza